EP1077145A1 - Controllable spring force for a vehicle wheel suspension - Google Patents

Controllable spring force for a vehicle wheel suspension Download PDF

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Publication number
EP1077145A1
EP1077145A1 EP00114367A EP00114367A EP1077145A1 EP 1077145 A1 EP1077145 A1 EP 1077145A1 EP 00114367 A EP00114367 A EP 00114367A EP 00114367 A EP00114367 A EP 00114367A EP 1077145 A1 EP1077145 A1 EP 1077145A1
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EP
European Patent Office
Prior art keywords
vehicle
spring
sensor
spring force
spring element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00114367A
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German (de)
French (fr)
Inventor
Fend Fritz
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Individual
Original Assignee
Individual
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Filing date
Publication date
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Publication of EP1077145A1 publication Critical patent/EP1077145A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/63—Location of the center of gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0194—Inclination due to load distribution or road gradient transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/24—Steering, cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9122—ARS - Anti-Roll System Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9124—Roll-over protection systems, e.g. for warning or control

Definitions

  • the invention relates to a vehicle, in particular road vehicle according to Preamble of claim 1.
  • the object of the invention is to show a vehicle with which safe cornering is possible without breaking out and / or tipping the vehicle.
  • a road vehicle is generally designated by 1, of which very schematically a wheel axle 2 and the one provided spring-loaded thereon Vehicle frame 3 (vehicle body) are shown.
  • FIG. 1 the suspension by two springs 4 and 5 is indicated schematically. Furthermore, the course of cornering is shown in FIG. 1 in position a, specifically as curve 6 with several successive curve sections with opposite curvature. As shown in position b, the vehicle frame 3 experiences an inclination due to the centrifugal force K 1 in such a way that the spring 4 relaxes on the inner side with respect to the curve section 6 'and the spring 5 is increasingly tensioned.
  • Figures 2 and 3 show a stabilizing device that this rocking avoids.
  • the Vehicle axle 2 has independent suspension, i.e. the wheels 7 of this vehicle axle are each mounted on a handlebar 8, which is at one end perpendicular to the Drawing plane of Figures 2 and 3 and thus extending in the vehicle longitudinal direction Axle is articulated on the vehicle frame 3 or on the vehicle body.
  • the respective spring 4 or 5 is supported with its lower end on the handlebar 8 or a spring plate 8 'provided there and with its upper end at one Spring plate 9, the position of which is adjustable relative to the handlebar 8, with With the help of a servomotor 10.
  • a separate one Servomotor 10 for each spring or for each link 8 there is a separate one Servomotor 10 provided.
  • the servomotors 10 are part of a control and Control loop, which among other things also has an acceleration sensor 11, which the lateral acceleration of the vehicle 1 determined when cornering.
  • the control and regulating circuit is preferably also designed such that it is also without Exposure to lateral acceleration by adjusting the spring plate 9 Springs 4 and 5 so that depending on the total weight of the
  • Vehicle 1 gives optimal suspension, i.e. with a smaller overall weight the vehicle has a softer suspension and a larger total weight of the Vehicle has a harder suspension, for example, in such a way that the handlebars 8th independent or largely independent of the respective total weight of the Vehicle 1 have the same starting position. This is particularly the case with Vehicles of advantage whose empty weight compared to the weight of the permissible payload is relatively low, so that the total weight of the vehicle is strong depends on the payload.
  • the servomotors 10 are adjusted via a control or regulating circuit so that the spring lying outside when cornering, for example spring 5 of FIG. 2 additionally tensioned and the spring located in relation to the curve, i.e. in the Representation of Figure 2, the spring 4 relaxed, so that none or practically none Inclination of the vehicle body or the vehicle frame 3 when cornering entry.
  • control variable in the control loop Inclination of the body 3 to include and / or the sensor 11 only as Training inclination sensor and to integrate it in a control loop that each Inclination of the body or the vehicle frame 3 from the upright target position leads to a readjustment of the servomotors 10 signal.
  • the Tire deflection for example, should be taken into account as a surcharge, i.e. the Adjustment of the respective spring plate 9 is then also carried out by the Amount 12 of tire deflection.
  • the servo motors 10 has adjustable suspension. Basically it is for example in vehicles with only three wheels or with a rear wheel axle, whose wheels are at a small axial distance from each other, sufficient only to form the front axle in the manner described above.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The vehicle wheels (7) are linked to the vehicle chassis by swinging arms (8). Each wheel has spring suspension consisting of a spring (5) mounted on the arm and held between a moveable upper (9) and a fixed lower (8) collar. A servomotor (10) actuated by the automatic vehicle control system can increase or decrease the spring damping effect by adjusting the position of the upper collar. A sensor (11) monitors the lateral acceleration on curves

Description

Die Erfindung bezieht sich auf ein Fahrzeug, insbesondere Straßenfahrzeug gemäß Oberbegriff Patentanspruch 1.The invention relates to a vehicle, in particular road vehicle according to Preamble of claim 1.

Aufgabe der Erfindung ist es, ein Fahrzeug aufzuzeigen, mit dem sichere Kurvenfahrten ohne ein Ausbrechen und/oder Kippen des Fahrzeugs möglich ist. Zur Lösung dieser Aufgabe ist ein Fahrzeug entsprechend dem Patentanspruch 1 ausgebildet.The object of the invention is to show a vehicle with which safe cornering is possible without breaking out and / or tipping the vehicle. To solve this Task is a vehicle designed according to claim 1.

Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche. Die Erfindung wird im Folgenden anhand der Figuren an einem Ausführungsbeispiel näher erläutert. Es zeigen:

Fig. 1
in verschiedenen Positionen a - c das Verhalten eines gefederten Fahrzeugs bei Durchfahren von mehreren aneinander anschließenden Kurven entgegengesetzter Krümmung;
Fig. 2
in vereinfachter Darstellung eine gefederte Achse eines erfindungsgemäßen Fahrzeugs bei Geradeausfahrt;
Fig. 3
die Darstellung der Figur 2 beim Durchfahren einer Kurve.
Developments of the invention are the subject of the dependent claims. The invention is explained in more detail below with reference to the figures using an exemplary embodiment. Show it:
Fig. 1
in different positions a - c the behavior of a sprung vehicle when driving through several adjacent curves of opposite curvature;
Fig. 2
in a simplified representation a sprung axle of a vehicle according to the invention when driving straight ahead;
Fig. 3
the representation of Figure 2 when driving through a curve.

In den Figuren ist allgemein mit 1 jeweils ein Straßenfahrzeug bezeichnet, von dem sehr schematisch eine Radachse 2 und der auf dieser gefedert vorgesehene Fahrzeugrahmen 3 (Fahrzeugkarosserie) wiedergegeben sind.In the figures, a road vehicle is generally designated by 1, of which very schematically a wheel axle 2 and the one provided spring-loaded thereon Vehicle frame 3 (vehicle body) are shown.

In der Figur 1 ist die Federung durch zwei Federn 4 und 5 schematisch angedeutet. Weiterhin ist in der Figur 1 in der Position a der Verlauf einer Kurvenfahrt wiedergegeben, und zwar als Kurve 6 mit mehreren aufeinander folgenden Kurvenabschnitten mit entgegengesetzter Krümmung. Wie in der Position b dargestellt ist, erfährt der Fahrzeugrahmen 3 aufgrund der Zentrifugalkraft K1 eine Neigung in der Weise, daß die Feder 4 auf der bezogen auf den Kurvenabschnitt 6' innenliegenden Seite entspannt und die Feder 5 zunehmend gespannt wird. Bei den anschließenden Kurvenabschnitt 6'' wirkt auf den Fahrzeugrahmen 3 eine entgegengesetzte Zentrifugalkraft K2 sowie auch die Kraft KF5 der sich entspannenden Feder 5, so daß es unter Umständen schon beim Durchfahren des Kurvenabschnittes 6'' entsprechend der Darstellung der Position d zu einem Kippen des Fahrzeugs 1 kommt, und zwar nicht durch die Kraft K2, sondern durch die zusätzliche Kraftkomponente KF5, die sich aus der sich entspannenden Feder 5 ergibt. Aus der Darstellung der Figur 1 ist auf jeden Fall ersichtlich, daß es beim Durchfahren mehrerer, aneinander anschließender Kurvenabschnitte mit unterschiedlicher Krümmung es aufgrund der Federkräfte der Federn 4 und 5 zu einem gefährlichen Aufschaukeln der Kippbewegung des Fahrzeugrahmens 3 und schließlich zu einem Umkippen des Fahrzeugs kommen kann (hierzu

Figure 00020001
Elchtest").In Figure 1, the suspension by two springs 4 and 5 is indicated schematically. Furthermore, the course of cornering is shown in FIG. 1 in position a, specifically as curve 6 with several successive curve sections with opposite curvature. As shown in position b, the vehicle frame 3 experiences an inclination due to the centrifugal force K 1 in such a way that the spring 4 relaxes on the inner side with respect to the curve section 6 'and the spring 5 is increasingly tensioned. In the subsequent curve section 6 ″, an opposite centrifugal force K 2 acts on the vehicle frame 3 and also the force K F5 of the relaxing spring 5, so that under certain circumstances even when driving through the curve section 6 ″ according to the representation of the position d to one Tilting of the vehicle 1 comes, not by the force K 2 , but by the additional force component K F5 , which results from the relaxing spring 5. From the illustration in FIG. 1, it can be seen in any case that when driving through several adjoining curve sections with different curvatures, the spring forces of the springs 4 and 5 cause the rocking movement of the vehicle frame 3 to rock up dangerously and the vehicle to tip over can (see
Figure 00020001
Elk test ").

Die Figuren 2 und 3 zeigen eine Stabilisier-Einrichtung, die dieses Aufschaukeln vermeidet. Bei den in den Figuren 2 und 3 wiedergegebenen Fahrzeug weist die Fahrzeugachse 2 eine Einzelradaufhängung auf, d.h. die Räder 7 dieser Fahrzeugachse sind jeweils an einem Lenker 8 gelagert, der an einem Ende um eine senkrecht zur der Zeichenebene der Figuren 2 und 3 und damit in Fahrzeuglängsrichtung verlaufende Achse am Fahrzeugrahmen 3 bzw. an der Fahrzeugkarosserie angelenkt ist. Die jeweilige Feder 4 bzw. 5 stützt sich mit ihrem unteren Ende an den Lenker 8 bzw. an einem dort vorgesehenen Federteller 8' und mit ihrem oberen Ende an einem Federteller 9 ab, dessen Position relativ zu dem Lenker 8 einstellbar ist, und zwar mit Hilfe eines Stellmotors 10. Für jede Feder bzw. für jeden Lenker 8 ist ein eigener Stellmotor 10 vorgesehen. Die Stellmotoren 10 sind Bestandteil eines Steuer- und Regelkreises, der u.a. auch einen Beschleunigungssensor 11 aufweist, welcher die seitliche Beschleunigung des Fahrzeugs 1 bei Kurvenfahrten ermittelt.Figures 2 and 3 show a stabilizing device that this rocking avoids. In the vehicle shown in Figures 2 and 3, the Vehicle axle 2 has independent suspension, i.e. the wheels 7 of this vehicle axle are each mounted on a handlebar 8, which is at one end perpendicular to the Drawing plane of Figures 2 and 3 and thus extending in the vehicle longitudinal direction Axle is articulated on the vehicle frame 3 or on the vehicle body. The respective spring 4 or 5 is supported with its lower end on the handlebar 8 or a spring plate 8 'provided there and with its upper end at one Spring plate 9, the position of which is adjustable relative to the handlebar 8, with With the help of a servomotor 10. For each spring or for each link 8 there is a separate one Servomotor 10 provided. The servomotors 10 are part of a control and Control loop, which among other things also has an acceleration sensor 11, which the lateral acceleration of the vehicle 1 determined when cornering.

Bevorzugt ist der Steuer- und Regelkreis auch so ausgebildet, daß er auch ohne Einwirkung einer seitlichen Beschleunigung durch Verstellen der Federteller 9 die Federn 4 und 5 so vorspannt, daß sich in Abhängigkeit von dem Gesamtgewicht des The control and regulating circuit is preferably also designed such that it is also without Exposure to lateral acceleration by adjusting the spring plate 9 Springs 4 and 5 so that depending on the total weight of the

Fahrzeugs 1 eine optimale Federung ergibt, d.h. bei einem kleineren Gesamtgewicht des Fahrzeugs eine weichere Federung und bei einem größeren Gesamtgewicht des Fahrzeuges eine härtere Federung beispielsweise in der Weise, daß die Lenker 8 unabhängig oder weitestgehend unabhängig von dem jeweiligen Gesamtgewicht des Fahrzeugs 1 die selbe Ausgangsstellung aufweisen. Dies ist insbesondere bei Fahrzeugen von Vorteil, deren Leergewicht im Vergleich zu dem Gewicht der zulässigen Zuladung relativ gering ist, so daß das Gesamtgewicht des Fahrzeugs stark von der Zuladung abhängt.Vehicle 1 gives optimal suspension, i.e. with a smaller overall weight the vehicle has a softer suspension and a larger total weight of the Vehicle has a harder suspension, for example, in such a way that the handlebars 8th independent or largely independent of the respective total weight of the Vehicle 1 have the same starting position. This is particularly the case with Vehicles of advantage whose empty weight compared to the weight of the permissible payload is relatively low, so that the total weight of the vehicle is strong depends on the payload.

Mit dem Sensor 11 wird, wie ausgeführt, die auf das Fahrzeug einwirkende seitliche Beschleunigung nach Größe und Richtung erfaßt. Mit dem Signal des Sensors 11 werden über einen Steuer- oder Regelkreis die Stellmotoren 10 so nachgestellt, daß die bei einer Kurvenfahrt außen liegende Feder, beispielsweise die Feder 5 der Figur 2 zusätzlich gespannt und die bezogen auf die Kurve innen liegende Feder, d.h. bei der Darstellung der Figur 2 die Feder 4 entspannt, so daß keine oder praktisch keine Neigung der Fahrzeugkarosserie bzw. des Fahrzeugrahmens 3 bei der Kurvenfahrt eintritt.With the sensor 11, as stated, the side acting on the vehicle Acceleration recorded by size and direction. With the signal from sensor 11 the servomotors 10 are adjusted via a control or regulating circuit so that the spring lying outside when cornering, for example spring 5 of FIG. 2 additionally tensioned and the spring located in relation to the curve, i.e. in the Representation of Figure 2, the spring 4 relaxed, so that none or practically none Inclination of the vehicle body or the vehicle frame 3 when cornering entry.

Bei mehreren aneinander anschließenden Kurvenstücken unterschiedlicher Krümmung erfolgt dann gesteuert durch das Steuer- und Regelsystem unter Berücksichtigung des Signals des Sensors 11 ein schnelles Verstellen der Federn 4 und 5 durch die Stellmotoren 10, so daß es zu dem in der Figur 1 dargestellten nachteiligen Kippen des Fahrzeugs 1 nicht kommen kann.When there are several adjoining curve pieces of different curvature is then controlled by the control system taking into account the Signals of the sensor 11 a quick adjustment of the springs 4 and 5 by the Servomotors 10 so that it leads to the disadvantageous tilting of the Vehicle 1 can not come.

Es genügt, mit dem Sensor 11 lediglich die Beschleunigung des Fahrzeugs in der horizontalen, senkrecht zur Achse des Fahrzeugs verlaufenden Achse zu erfassen.It is sufficient to use the sensor 11 only the acceleration of the vehicle in the horizontal axis perpendicular to the axis of the vehicle.

Grundsätzlich ist es auch möglich, als Regelgröße in den Regelkreis eine eventuelle Neigung der Karosserie 3 mit einzuschließen und/oder den Sensor 11 lediglich als Neigungssensor auszubilden und derart in einem Regelkreis zu integrieren, daß jede Neigung der Karosserie bzw. des Fahrzeugrahmens 3 aus der aufrechten Soll-Lage zu einem ein Nachregeln der Stellmotoren 10 bewirkenden Signal führt.In principle, it is also possible to include a possible control variable in the control loop Inclination of the body 3 to include and / or the sensor 11 only as Training inclination sensor and to integrate it in a control loop that each Inclination of the body or the vehicle frame 3 from the upright target position leads to a readjustment of the servomotors 10 signal.

In dem Stell- oder Regelkreis kann weiterhin auch, wie in der Figur 3 dargestellt ist, die Reifeneinfederung beispielsweise als Zuschlagsgröße berücksichtigt werden, d.h. die Nachstellung des jeweiligen Federtellers 9 erfolgt dann zusätzlich auch noch um den Betrag 12 der Reifeneinfederung.In the control or regulating circuit, as shown in FIG. 3, the Tire deflection, for example, should be taken into account as a surcharge, i.e. the Adjustment of the respective spring plate 9 is then also carried out by the Amount 12 of tire deflection.

Die Erfindung wurde voranstehend an einem Ausführungsbeispiel beschrieben. Es versteht sich, daß zahlreiche Änderungen sowie Abwandlungen möglich sind, ohne daß dadurch der der Erfindung zugrundeliegende Erfindungsgedanke verlassen wird.The invention has been described above using an exemplary embodiment. It it goes without saying that numerous changes and modifications are possible without that this leaves the inventive idea on which the invention is based.

Vorstehend wurde davon ausgegangen, daß nur eine Achse des Fahrzeugs 1 die mit den Stellmotoren 10 verstellbare Federung aufweist. Grundsätzlich ist es beispielsweise bei Fahrzeugen mit nur drei Rädern oder mit einer hinteren Radachse, deren Räder einen geringen axialen Abstand voneinander aufweisen, ausreichend nur die Vorderachse in der vorstehend beschriebenen Weise auszubilden.Above it was assumed that only one axis of the vehicle 1 has the the servo motors 10 has adjustable suspension. Basically it is for example in vehicles with only three wheels or with a rear wheel axle, whose wheels are at a small axial distance from each other, sufficient only to form the front axle in the manner described above.

Es besteht aber selbstverständlich auch die Möglichkeit, bei mehrachsigen Fahrzeugen sämtliche Achsen mit der vorbeschriebenen verstellbaren Federung zu versehen, wobei dann durch die Steuer- und Regeleinrichtung zugleich auch eine gleichmäßige Kraftverteilung auf sämtliche Räder des Fahrzeugs bewirkt werden kann. But of course there is also the possibility with multi-axle vehicles to provide all axles with the above-described adjustable suspension, then by the control and regulating device also a uniform Force distribution on all wheels of the vehicle can be effected.

BezugszeichenlisteReference list

11
StraßenfahrzeugRoad vehicle
22nd
RadachseWheel axle
33rd
FahrzeugrahmenVehicle frame
4, 54, 5
Federungsuspension
66
KurvenfahrtCornering
6', 6''6 ', 6' '
KurvenabschnittCurve section
77
Radwheel
88th
LenkerHandlebars
99
FedertellerSpring plate
1010th
StellmotorServomotor
1111
Sensorsensor
1212th
ReifeneinfederungTire deflection

Claims (2)

Fahrzeug, insbesondere Straßenfahrzeug mit wenigstens einer an einem Fahrzeugrahmen (3) über wenigstens zwei Federelemente (4, 5) gefederten Radachse (2) mit Einzelradaufhängung für die dortigen Fahrzeugräder (7), wobei sich jedes Federelement (4, 5) jeweils gegen wenigstens ein erstes Gegenlager an der Radachse (2) sowie gegen wenigstens ein zweites Gegenlager (9) am Fahrzeugrahmen abstützt, dadurch gekennzeichnet, daß die Gegenlager der jeweiligen Federelemente (4, 5) mit Hilfe eines motorischen Stellgliedes (10) im Sinne einer Verstärkung oder Reduzierung der Federkraft des jeweiligen Federelementes (4, 5) bewegbar ist, und daß die Stellmotoren (10) Bestandteil eines Steuer- oder Regelkreises sind, der wenigstens einen die Neigung des Fahrzeugs um eine Fahrzeuglängsachse und/oder eine seitliche Beschleunigung des Fahrzeugs und/oder das Gesamtgewicht des Fahrzeugs und/oder einen die Radstellung erfassenden Sensor erfassenden Sensor (11) aufweist.Vehicle, in particular a road vehicle with at least one wheel axle (2) suspended on a vehicle frame (3) via at least two spring elements (4, 5) with independent wheel suspension for the vehicle wheels (7) there, each spring element (4, 5) in each case against at least one supports the first thrust bearing on the wheel axle (2) and against at least a second thrust bearing (9) on the vehicle frame, characterized in that the thrust bearing of the respective spring elements (4, 5) with the aid of a motorized actuator (10) in the sense of strengthening or reducing the Spring force of the respective spring element (4, 5) is movable, and that the servomotors (10) are part of a control or regulating circuit, the at least one of the inclination of the vehicle about a vehicle longitudinal axis and / or lateral acceleration of the vehicle and / or the total weight of the vehicle and / or a sensor (11) which detects the wheel position. Fahrzeug nach Anspruch 1, dadurch gekennzeichnet, daß der Steuer- oder Regelkreis in Abhängigkeit von dem Signal des wenigstens einen Sensors (11) die Stellmotoren (10) derart steuert, daß bei einer Kurvenfahrt die Federkraft des jeweils außenliegenden Federelementes (5) erhöht und das innenliegende Federelement (4) entlastet wird.Vehicle according to claim 1, characterized in that the control or Control loop depending on the signal of the at least one sensor (11) Servomotors (10) controls such that the spring force of the respective when cornering external spring element (5) increased and the internal spring element (4) is relieved.
EP00114367A 1999-08-14 2000-07-05 Controllable spring force for a vehicle wheel suspension Withdrawn EP1077145A1 (en)

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DE1999138669 DE19938669A1 (en) 1999-08-14 1999-08-14 vehicle
DE19938669 1999-08-14

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WO2003051656A1 (en) * 2001-12-19 2003-06-26 Gijsbert Antonie Van Den Hater Vehicle gas springm, anti-roll device and method using such gas springs

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DE10043711B4 (en) * 2000-09-04 2006-01-26 Sachsenring Zwickau Ag Actuator for active chassis control
DE10120102A1 (en) * 2001-04-25 2002-10-31 Bosch Gmbh Robert Active chassis with electric actuator and damper
CN103358845B (en) * 2012-04-06 2015-12-09 曹俏峰 Can the skew back of skew back Double-wheel structure adjusted and controlled

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JPS63137008A (en) * 1986-11-28 1988-06-09 Toyota Motor Corp Posture control device for vehicle
JPH02169318A (en) * 1988-12-22 1990-06-29 Isuzu Motors Ltd Attitude controller for car body
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WO2003051656A1 (en) * 2001-12-19 2003-06-26 Gijsbert Antonie Van Den Hater Vehicle gas springm, anti-roll device and method using such gas springs
NL1019609C2 (en) * 2001-12-19 2003-06-30 Gijsbert Antonie Van Den Hater Vehicle provided with at least one gas-filled spring bellows, as well as an anti-tilt device and a method for providing a vehicle with an anti-tilt device.

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